Information processing device, information processing method, and information processing program of mobile object

ABSTRACT

According to one embodiment, an information processing device has processing circuitry and a memory. The processing circuitry is configured to acquire myoelectric potential of one part of a body of a user, determine whether the myoelectric potential is higher than reference myoelectric potential, switch autonomous driving to manual driving when the myoelectric potential is higher than the reference myoelectric potential, and output running control information to a mobile object after switching the autonomous driving to the manual driving. The memory is configured to store information that is required for processing that the processing circuitry executes.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is based upon and claims the benefit of priority fromthe prior Japanese Patent Application No. 2016-178613, filed on Sep. 13,2016; the entire contents of which are incorporated herein by reference.

FIELD

Embodiments described herein relate generally to an informationprocessing device, an information processing method, and an informationprocessing program of a mobile object.

BACKGROUND

There has been proposed a mobile object, such as an automobile, whichmoves under autonomous driving when an occupant sitting inside does notperform manual driving.

However, even when the mobile object is moving under autonomous driving,an occupant would rather drive the mobile object manually as the needarises. Such being the case, autonomous driving can be switched tomanual driving in some types of mobile object.

Using a hand-operated selector switch to switch autonomous driving tomanual driving, however, poses a problem that a switching operation istroublesome.

An object of embodiments described herein is to provide an informationprocessing device, an information processing method, and an informationprocessing program of a mobile object, each of which is capable ofreadily switching autonomous driving to manual driving.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a mobile object of one embodiment;

FIG. 2 is a flowchart of processing circuitry;

FIG. 3 is a view of a user operating a steering wheel;

FIG. 4 is a view of a closed hand;

FIG. 5 is a view of an opened hand;

FIG. 6 is a view used to describe upward and downward tilts when theuser wears a motion sensor on an arm;

FIG. 7 is a view used to describe rightward and leftward tilts when theuser wears the motion sensor on the arm;

FIG. 8 is a view used to describe clockwise and counterclockwise tiltswhen the user wears the motion sensor on the arm; and

FIG. 9 is a view used to describe a hand gesture for a stop operation.

DETAILED DESCRIPTION

According to embodiments, an information processing device of a mobileobject movable under autonomous driving and manual driving by a user hasprocessing circuitry and a memory. The processing circuitry isconfigured to acquire myoelectric potential of at least one part of abody of the user, determine whether the myoelectric potential is higherthan reference myoelectric potential, switch the autonomous driving tothe manual driving when the myoelectric potential is higher than thereference myoelectric potential, and output running control informationto the mobile object after switching the autonomous driving to themanual driving. The memory is configured to store information that isrequired for processing that the processing circuitry executes.

Hereinafter, an information processing device 2 of a mobile object 1according to one embodiment will be described. In this embodiment, themobile object 1, such as an automobile, is switched from autonomousdriving to manual driving according to information acquired from agesture of an arm or a hand of a user. Normally, the user does not holda steering wheel during autonomous driving. However, when the mobileobject 1 is highly likely to collide with a wall or another vehicle, theuser has to instantly switch autonomous driving to manual driving whichenables a driving operation by the user. Hence, this embodiment willdescribe the information processing device 2 which enables the user toswitch autonomous driving to manually driving when a need arises duringautonomous driving.

(1) Configuration of Mobile Object 1

A configuration of the mobile object 1 will be described with referenceto a block diagram of FIG. 1. The mobile object 1 is an automobile foran occupant (hereinafter, referred to as the user) to get in. The mobileobject 1 is movable under manual driving by which the mobile object 1runs according to a driving operation by the user and autonomous drivingby which the mobile object 1 runs autonomously without the user havingto perform a driving operation. The mobile object 1 includes theinformation processing device 2, a running circuit 3, a power device 4,a driving operation device 8, a display 9, and a motion sensor 20 havinga myoelectric potential sensor 21 and an acceleration sensor 22.

The information processing device 2 is, for example, a dedicated orgeneral purpose computer. Herein, a case where the informationprocessing device 2 is equipped to the mobile object 1 will bedescribed. It should be appreciated, however, that the informationprocessing device 2 is not limited to a configuration described belowand, for example, processing by the information processing device 2 maybe executed on a cloud resource. The information processing device 2includes processing circuitry 10, a storage circuit 5, a communicationunit 6, and a bus 7 interconnecting the respective components.Respective processing functions performed by the information processingdevice 2 are preliminarily stored in the storage circuit 5 in the formof computer-executable programs.

The processing circuitry 10 includes an acquisition unit 11, adetermination unit 12, and a control unit 13. FIG. 1 chiefly showsfunctions furnished in this embodiment by way of example. It should beappreciated, however, that functions furnished to the processingcircuitry 10 are not limited to the functions shown in FIG. 1.Respective processing functions will be described below. The processingcircuitry 10 is a processor that realizes a function corresponding toeach program by reading out the program from the storage circuit 5 andexecuting the read program. The above has described a case withreference to FIG. 1 where the processing circuitry solely realizesprocessing functions furnished to the acquisition unit 11, thedetermination unit 12, and the control unit 13. However, the processingcircuitry 10 may be formed by combining multiple independent processorsto let each processor realize a furnished function by executing acorresponding program. Further, each processing function may be providedin the form of a program and the processing circuitry 10 may solelyexecute all programs. Furthermore, a particular function may befurnished to a dedicated, independent program execution circuit.

The term, “processor”, referred to above means circuitry represented by,for example, a CPU (Central Processing Unit), a GPU (GraphicalProcessing Unit), an ASIC (Application Specific Integrated Circuit), anSPLD (Simple Programmable Logic Device), a CPLD (Complex ProgrammableLogic Device), or an FPGA (Field Programmable Gate Array). The processorrealizes a function by reading out and executing a corresponding programsaved in the storage circuit 5. A program may be directly installed toan internal circuit of the processor instead of saving a program in thestorage circuit 5. In such a case, the processor realizes a function byreading out and executing a corresponding program installed to theinternal circuit.

The storage circuit 5 stores data or the like involved in variousprocessing functions performed by the processing circuitry 10 as needed.The storage circuit 5 stores programs and other types of data. Examplesof the storage circuit 5 include but not limited to a semiconductormemory element, such as a RAM (Random Access Memory) and a flash memory,a hard disk, and an optical disk. Processing executed by an internalstorage circuit of the processing circuitry 10 may be alternativelyexecuted by an external storage device of the information processingdevice 2. The storage circuit 5 may be a storage medium in which aprogram transferred via a LAN (Local Area Network), the Internet, or thelike is downloaded and stored or transiently stored. The number ofstorage medium is not limited to one. Processing in this embodiment maybe executed using a plurality of storage media. The storage media canadopt any one of the above configurations.

The motion sensor 20 is of a wristband type to be worn on a part of abody of the user and has the myoelectric potential sensor 21 and theacceleration sensor 22. The user may wear the motion sensor 20 on, forexample, an arm. However, the motion sensor 20 is not necessarily wornon an arm and may be worn on any other appropriate part of the body,such as a wrist, an upper arm, a finger, a head, a thigh, and an ankle.

The myoelectric potential sensor 21 is provided with three sets ofelectrodes along an inner periphery of the wrist band and closelyattached to an arm of the user. Each set of electrodes detectsmyoelectric potential in time sequence. When the user closes his hand asis shown in FIG. 4, amplitude of a waveform of myoelectric potential Kincreases. On the contrary, amplitude degreases when the user relaxeshandgrip by opening his hand as is shown in FIG. 5. The myoelectricpotential sensor 21 outputs, for example, an average value of the threesets of electrodes as the myoelectric potential K.

The acceleration sensor 22 detects a feature amount in a part of thebody of the user. A feature amount is “a three-dimensional tilt θ” foundfrom acceleration of three axes on a three-dimensional space detected bythe acceleration sensor 22. The term, “three-dimensional tilt θ”,referred to herein is expressed by, for example, a pitch which is, as isshown in FIG. 6, a rotational angle in a top-bottom direction withrespect to an axis pointing in a right-left direction when viewed fromthe acceleration sensor 22, a yaw which is, as is shown in FIG. 7, arotational angle in the right-left direction with respect to an axispointing in the top-bottom direction, and a roll which is, as is shownin FIG. 8, a rotational angle with respect to an axis pointing in afront-rear direction. These three parameters vary with a wearingposition and a wearing angle of the motion sensor 20. In a case wherethe user wears the motion sensor 20 on an arm, as are shown in FIGS. 6through 8, the three parameters are calculated to be rotational anglesin the top-bottom direction, the right-left direction, and the clockwiseor counterclockwise direction when viewed from the user. For example,let a tilt at a particular instant be a reference and a downwarddirection, a rightward direction, and a clockwise direction be positive.Then, a three-dimensional tilt θ is calculated as a relative tilt(rotational angle) with respect to the reference (for example, a tilt atan instant when an application starts). Alternatively, a trajectory maybe calculated from acceleration alone. The pitch and the roll may becalculated on the assumption that an integrated vector ofthree-dimensional acceleration obtained from the acceleration sensor 21is a gravitational acceleration direction.

The communication unit 6 is an interface which inputs information fromand outputs information to the operation sensor 20 and an externaldevice connected either by wire or radio. The communication unit 6 maybe connected to a network to make communications. For example, thecommunication unit 6 acquires information on a location of a subjectvehicle and also information on road conditions (accident, jamming, andso on) specified by a GPS.

The driving operation device 8 accepts various instructions and inputsof information from the user. The driving operation device 8 includes,for example, a steering wheel, an accelerator pedal, a brake pedal, anda direction indictor.

The display 9 displays various types of information on the mobile object1. The display 9 is, for example, included in a car navigation systemformed of a display device, such as a liquid crystal display, anddisplays a map image or the like.

The running circuit 3 controls the power device 4 includingunillustrated motor, wheels, and so on, to be more specific, controlsdirections of the wheels, an engine, the motor, and so on for the mobileobject 1 to move according to the running control information from theprocessing circuitry 10.

(2) Configuration of Information Processing Device 2

A configuration of the information processing device 2 will be describedwith reference to the block diagram of FIG. 1. The processing circuitry10 of the information processing device 2 includes the acquisition unit11, the determination unit 12, and the control unit 13. The term,“autonomous driving”, referred to herein means that the mobile object 1operates autonomously to take a right turn, a left turn, accelerate,decelerate, and stop. The term, “manual driving”, referred to hereinmeans that the user himself holds and operates the steering wheel todrive the mobile object 1 while operating the accelerator pedal and thebrake pedal. There are two critical points when autonomous driving isswitched to manual driving.

A first point is in which manner an intention of the user to switchautonomous driving to manual driving is determined. In this embodiment,myoelectric potential K of an arm of the user is measured by themyoelectric potential sensor 21 and an intention to switch autonomousdriving to manual driving is determined on the basis of the measuredmyoelectric potential K.

A second point is in which manner the mobile object 1 is run whenautonomous driving is switched to manual driving.

In this embodiment, when autonomous driving is switched to manualdriving, the mobile object 1 is run by using a three-dimensional tilt θof the arm of the user detected by the acceleration sensor 22. Also, inthis embodiment, as is shown in FIG. 3, an operation target controlledby using a three-dimensional tilt θ of the arm is the steering wheel.The user may hold the steering wheel or may make a gesture to hold thesteering wheel instead of actually holding the steering wheel.

The acquisition unit 11 acquires information from the motion sensor 20,more specifically, myoelectric potential K of the arm of the user fromthe myoelectric potential sensor 21 and a three-dimensional tilt θ ofthe arm of the user from the acceleration sensor 22 in time sequence. Inthis embodiment, the acquisition unit 11 is connected to the motionsensor 20 by radio via the communication unit 6.

The determination unit 12 determines whether the user is going to switchautonomous driving to manual driving in response to myoelectricpotential K, to be more specific, on the basis of amplitude ofmyoelectric potential K. For example, the determination unit 12determines that the user is going to switch autonomous driving to manualdriving when myoelectric potential K is higher than referencemyoelectric potential d0 The determination unit 12 occasionallydetermines whether the user is going to switch autonomous driving tomanual driving by using a three-dimensional tilt θ in addition tomyoelectric potential K.

The control unit 13 generates running control information indicating amanner in which to operate the steering wheel, according to athree-dimensional tilt θ of the arm and outputs the generatedinformation to the running circuit 3. The control unit 13 may identifyan operation of the steering wheel in response to a three-dimensionaltilt θ of the arm by means of existing machine learning.

In the following, multiple embodiments will be described one by one asto a control method of switching the mobile object 1 from autonomousdriving to manual driving by the user using the information processingdevice 2 configured as above.

(3) First Control Method of Information Processing Device 2

A first control method of the information processing device 2 will bedescribed with reference to a flowchart of FIG. 2. The first controlmethod switches autonomous driving to manual driving when myoelectricpotential K is higher than the reference myoelectric potential d0.

In Step S1, the processing circuitry 10 starts autonomous driving.Subsequently, advancement is made to Step S2.

In Step S2, the acquisition unit 11 acquires myoelectric potential K anda three-dimensional tilt θ in time sequence.

In Step S3, the determination unit 12 determines whether a conditionthat myoelectric potential K is higher than the reference myoelectricpotential d0 (K>d0) is satisfied. When K>d0, advancement is made to StepS4 (the case of Y). When K≦d0, advancement is made to Step S7 (the caseof N).

In Step S4, given K>d0, the determination unit 12 switches autonomousdriving to manual driving. Subsequently, advancement is made to Step S5.

In Step S5, because autonomous driving is switched to manual driving,the control unit 13 generates running control information indicating amanner in which to operate the steering wheel, according to athree-dimensional tilt θ and outputs the generated information to therunning circuit 3. Subsequently, advancement is made to Step S6.

In Step S6, when a predetermined time has elapsed since myoelectricpotential K decreases to or below the reference myoelectric potentiald0, the determination unit 12 determines that the user no longer intendsto operate the steering wheel, in which case the flow returns to Step S1(the case of Y). When myoelectric potential K is higher than thereference myoelectric potential d0 or when the predetermined time hasnot elapsed since myoelectric potential K decreases to or below thereference myoelectric potential d0, the flow returns to Step S5 (thecase of N).

In Step S7, given K≦d0, the determination unit 12 determines that theuser has no intention to operate the steering wheel and continuesautonomous driving, in which case the flow returns to Step S2.

(4) Second Control Method

A second control method of the information processing device 2 usesthresholds d0 and d1 through dk in multiple steps when the determinationunit 12 switches autonomous driving to manual driving on the basis ofmyoelectric potential K. In this embodiment, a description will be givento a case using thresholds (the reference myoelectric potential) d0 andd1 in two steps, where d1>d0.

When K>d1, the determination unit 12 switches autonomous driving tomanual driving. Upon switching to manual driving, the control unit 13outputs running control information indicating a manner in which tooperate the steering wheel, according to a three-dimensional tilt θ tothe running circuit 3.

When d1≧K>d0, the determination unit 12 determines that the control unit13 controls driving of the mobile object 1 according to a weighted sumof manual driving and autonomous driving. More specifically, a switchingdegree to manual driving is increased as myoelectric potential K becomehigher. For example, in a case where the user operates the steeringwheel to travel straight ahead while the mobile object 1 is being turnedto the right by 90° by autonomous driving, the mobile object 1 is turnedby an angle closer to a straight-ahead direction as myoelectricpotential K becomes higher. That is to say, the control unit 13 turnsthe mobile object 1 according to a weighted sum of a straight-aheadangle of 0° by manual driving and a turning angle of 90° by autonomousdriving. Gripping strength and a switching degree to manual driving maynot necessarily correspond linearly and may correspond non-linearly likea sigmoid function.

When K≦d0, the determination unit 12 continues autonomous driving.

(5) Third Control Method

A third control method of the information processing device 2 varies atime taken to switch autonomous driving to manual driving according tomyoelectric potential K.

When myoelectric potential K is higher than a myoelectric potentialthreshold e (K>e), where e>d0, the determination unit 12 immediatelyswitches autonomous driving to manual driving. Upon switching to manualdriving, the control unit 13 outputs running control informationindicating a manner in which to operate the steering wheel, according toa three-dimensional tilt θ to the running circuit 3.

When d0<K≦e, the determination unit 12 switches autonomous driving tomanual driving after a predetermined time (for example, ten seconds).Upon switching to manual driving, the control unit 13 outputs runningcontrol information indicating a manner in which to operate the steeringwheel, according to a three-dimensional tilt θ to the running circuit 3.

(6) Fourth Control Method

A fourth control method of the information processing device 2 switchesautonomous driving to manual driving when a three-dimensional tilt θ ofthe arm exceeds a first angle threshold α after myoelectric potential Krises above the reference myoelectric potential d0. In particular, byallocating an extremely rare motion in normal situations, the user isallowed to make a manual operation only when the user intends to.

When a three-dimensional tilt θ of the arm detected by the accelerationsensor 22 exceeds the first angle threshold a after myoelectricpotential K rises above the reference myoelectric potential d0 (K>d0),the determination unit 12 switches autonomous driving to manual driving.Upon switching to manual driving, the control unit 13 outputs runningcontrol information indicating a manner in which to operate the steeringwheel, according to a three-dimensional tilt θ to the running circuit 3.

When 8 a even after myoelectric potential K rises above the referenceelectric potential d0 (K>d0), the determination unit 12 continuesautonomous driving.

For example, when the user moves the arm noticeably after myoelectricpotential K rises above the reference myoelectric potential d0,autonomous driving is switched to manual driving.

In the fourth control method, too, the first angle threshold a may beprovided in multiple steps to increase a degree of manual driving withrespect to autonomous driving as a three-dimensional tilt θ of the armbecomes higher after myoelectric potential K rises above the referencemyoelectric potential d0 (K>d0).

(7) Fifth Control Method

A fifth control method of the information processing device 2 varies aswitching speed from autonomous driving to manual driving according tomagnitude of a three-dimensional tilt θ of the arm after myoelectricpotential K rises above the reference myoelectric potential d0.

When a three-dimensional tilt θ after myoelectric potential K risesabove the reference myoelectric potential d0 (K>d0) is greater than asecond angle threshold β (θ>β), the determination unit 12 immediatelyswitches autonomous driving to manual driving. Upon switching to manualdriving, the control unit 13 outputs running control informationindicating a manner in which to operate the steering wheel, according toa three-dimensional tilt θ to the running circuit 3.

When a three-dimensional tile θ after myoelectric potential K risesabove the reference myoelectric potential d0 (K>d0) is equal to or lessthan the second angle threshold β (θ≦β), the determination unit 12switches autonomous driving to manual driving after a predetermined time(for example, ten seconds). Upon switching to manual driving, thecontrol unit 13 outputs running control information indicating a mannerin which to operate the steering wheel, according to a three-dimensionaltilt θ to the running circuit 3.

(8) Sixth Control Method

A sixth control method of the information processing device 2 varies aswitching speed from autonomous driving to manual driving with arapidity of change, V, with which myoelectric potential K rises abovethe reference myoelectric potential d0. For example, when the user holdsthe steering wheel quickly, autonomous driving is quickly switched tomanual driving.

When a rapidity of change, V, of myoelectric potential K is higher thana rapidity threshold v0 (V>vo), the determination unit 12 immediatelyswitches autonomous driving to manual driving. Upon switching to manualdriving, the control unit 13 outputs running control informationindicating a manner in which to operate the steering wheel, according toa three-dimensional tilt θ to the running circuit 3.

When V≦v0, the determination unit 12 switches autonomous driving tomanual driving after a predetermined time (for example, ten seconds).Upon switching to manual driving, the control unit 13 outputs runningcontrol information indicating a manner in which to operate the steeringwheel, according to a three-dimensional tilt θ to the running circuit 3.

Even in the sixth control method, too, the rapidity threshold v0 may beprovided in multiple steps to gradually make a switching time shorter orlonger (for switching to take place faster or slower).

(9) Seventh Control Method

A seventh control method of the information processing device 2 switchesautonomous driving to manual driving when myoelectric potential Kremains above the reference myoelectric potential d0 for a certain time.When a hand gripping state at a strength above a certain level continuesfor a predetermined time or longer, the determination unit 12 determinesthat the user intends to operate the steering wheel. For example, whenthe user keeps holding the steering wheel for a considerable time,autonomous driving is switched to manual driving. Hence, even in anoccasion where a force is exerted transiently when the user does notintend to operate the steering wheel, an erroneous operation can beprevented.

When K>d0 and a time over which the user keeps holding the steeringwheel (hereinafter, referred to as a duration time) t is longer than atime threshold T0 (t>T0), the determination unit 12 switches autonomousdriving to manual driving.

When t≦T0, the determination unit 12 continues autonomous driving.

Even in the seventh control method, too, the time threshold T0 may beprovided in multiple steps to perform a control according to a weightedsum of manual driving and autonomous driving in each step. In such acase, a degree of autonomous driving is increased as the duration time tbecomes longer.

(10) Eighth Control Method

An eighth control method of the information processing device 2 switchesautonomous driving to manual driving when myoelectric potential K ishigher than the reference myoelectric potential d0 according torelevance of angular variations between both arms of the user. Forexample, when the user wears the motion sensor 20 on the both arms,relevance of angular variations between the both arms of the userincreases for a gesture to turn the steering wheel by holding thesteering wheel with both hands. Hence, relevance S of angular variationsis found from three-dimensional tilts θ of the both arms calculated bythe respective motion sensors 20 worn on the both arms, and whether toswitch autonomous driving to manual driving is determined according tothe relevance S thus found.

According to “relevance S”, a three-dimensional tilt θ of the left handand a three-dimensional tilt θ of the right hand are related to eachother when both are within a reference range for a predetermined time,and relevance S increases as a difference of the three-dimensional tiltsθ between the both hands becomes smaller.

When myoelectric potential K is higher than the threshold d0 (K>d0) andrelevance S of angular variations between the both arms is higher than afirst relevance threshold s0 (S>s0), the determination unit 12 switchesautonomous driving to manual driving.

When S≦s0, the determination unit 12 continues autonomous driving.

Even in the eighth control method, too, the first relevance threshold s0may be provided in multiple steps to increase a degree of manual drivingas relevance S increases. In such a case, a running control is performedaccording to a weighted sum of manual driving and autonomous driving.

(11) Ninth Control Method

A ninth control method of the information processing device 2 increasesa speed with which to switch autonomous driving to manual drivingaccording to relevance S of angular variations between the both armswhen myoelectric potential K is higher than the reference myoelectricpotential d0.

When myoelectric potential K is higher than the reference myoelectricpotential d0 (K>d0) and relevance S of angular variations between theboth arms is greater than a second relevance threshold m (S>m), thedetermination unit 12 immediately switches autonomous driving to manualdriving.

When S≦m, the determination unit 12 switches autonomous driving tomanual driving after a predetermined time (for example, ten seconds).

Even in the ninth control method, too, the second relevance threshold mmay be provided in multiple steps to increase the switching speed asrelevance S increases.

[Modification]

A modification will now be described. In the embodiments describedabove, an operation target is the steering wheel. However, the operationtarget may be, for example, a brake pedal or an accelerator pedal of themobile object 1 instead. In a case where the operation target is thebrake pedal, the determination unit 12 may switch autonomous driving tomanual driving when myoelectric potential K rises above the threshold d0as the user moves his hand forward with the palm facing front as isshown in FIG. 9. The control unit 13 acquires a three-dimensional tilt θof the arm when the hand is moved forward with the palm facing front andimmediately puts a brake.

The acceleration sensor 22 may calculate a tilt θ by using an angularvelocity or geomagnetism besides acceleration. For example, a tilt θ maybe calculated by a nine-axes sensor capable of acquiringthree-dimensional acceleration, angular velocity, and geomagnetism in apart where the motion sensor 20 is worn. For example, a tilt of a sensorcalculated from values of the three-dimensional acceleration, angularvelocity, and magnetism by using a technique disclosed in Non-PatentLiterature 1 may be deemed as a three-dimensional tilt θ of a part ofthe user.

While certain embodiments have been described, these embodiments havebeen presented by way of example only, and are not intended to limit thescope of the inventions. Indeed, the novel embodiments described hereinmay be embodied in a variety of other forms; furthermore, variousomissions, substitutions and changes in the form of the embodimentsdescribed herein may be made without departing from the spirit of theinventions. The accompanying claims and their equivalents are intendedto cover such forms or modifications as would fall within the scope andspirit of the inventions.

What is claimed is:
 1. An information processing device of a mobileobject movable under autonomous driving and manual driving by a user,the device comprising: processing circuitry configured to: acquiremyoelectric potential of at least one part of a body of the user,determine whether the myoelectric potential is higher than referencemyoelectric potential, switch the autonomous driving to the manualdriving when the myoelectric potential is higher than the referencemyoelectric potential, and output running control information to themobile object after switching the autonomous driving to the manualdriving; and a memory configured to store information that is requiredfor processing that the processing circuitry executes.
 2. The deviceaccording to claim 1, wherein the processing circuitry is configured to:acquire at least acceleration in time sequence as to motion of the partof the body of the user; and generate the running control informationaccording to the acceleration after switching the autonomous driving tothe manual driving.
 3. The device according to claim 2, wherein theprocessing circuitry is configured to: acquire a three-dimensional tiltin time sequence found from the acceleration of three axes on athree-dimensional space; and generate the running control informationaccording to the three-dimensional tilt after switching the autonomousdriving to the manual driving.
 4. The device according to claim 1,wherein the processing circuitry is configured to: switch the autonomousdriving to the manual driving when the myoelectric potential is higherthan both of the reference myoelectric potential and a myoelectricpotential threshold; and switch the autonomous driving to the manualdriving after a predetermined time when the myoelectric potential ishigher than the reference myoelectric potential and equal to or lowerthan the myoelectric potential threshold.
 5. The device according toclaim 3, wherein the processing circuitry is configured to: switch theautonomous driving to the manual driving when one of the accelerationand the three-dimensional tilt becomes greater than a first anglethreshold after the myoelectric potential rises above the referencemyoelectric potential.
 6. The device according to claim 3, wherein theprocessing circuitry is configured to: switch the autonomous driving tothe manual driving when one of the acceleration and thethree-dimensional tilt is greater than a second angle threshold afterthe myoelectric potential rises above the reference myoelectricpotential; and switch the autonomous driving to the manual driving aftera predetermined time when one of the acceleration and thethree-dimensional tilt is equal to or less than the second anglethreshold after the myoelectric potential rises above the referencemyoelectric potential.
 7. The device according to claim 1, wherein theprocessing circuitry is configured to: switch the autonomous driving tothe manual driving more quickly as the myoelectric potential rises abovethe reference myoelectric potential at a higher rapidity of change. 8.The device according to claim 1, wherein the processing circuitry isconfigured to: switch the autonomous driving to the manual driving whena duration time over which the myoelectric potential remains above thereference myoelectric potential is longer than a time threshold.
 9. Thedevice according to claim 3, wherein the processing circuitry isconfigured to: acquire the acceleration of both arms of the user; andswitch the autonomous driving to the manual driving when the myoelectricpotential is higher than the reference myoelectric potential andrelevance of one of the acceleration and three-dimensional tilts betweenthe both arms is greater than a first relevance threshold.
 10. Thedevice according to claim 3, wherein the processing circuitry isconfigured to: acquire the acceleration of both arms of the user; switchthe autonomous driving to the manual driving when the myoelectricpotential is higher than the reference myoelectric potential andrelevance of one of the acceleration and three-dimensional tilts of theboth arms is greater than a second relevance threshold; and switch theautonomous driving to the manual driving after a predetermined time whenthe myoelectric potential is higher than the reference myoelectricpotential and relevance of the three-dimensional tilts is equal to orless than the second relevance threshold.
 11. An information processingmethod of a mobile object movable under autonomous driving and manualdriving by a user using an information processing device of the mobileobject, the method comprising: acquiring myoelectric potential of atleast one part of a body of the user; determining whether themyoelectric potential is higher than reference myoelectric potential andswitching the autonomous driving to the manual driving when themyoelectric potential is higher than the reference myoelectricpotential; and outputting running control information to the mobileobject after the autonomous driving is switched to the manual driving.12. The method according to claim 11, further comprising: acquiring atleast acceleration in time sequence as to motion of the part of the bodyof the user; and generating the running control information according tothe acceleration after switching the autonomous driving to the manualdriving.
 13. The method according to claim 12, further comprising:acquiring a three-dimensional tilt in time sequence found from theacceleration of three axes on a three-dimensional space, wherein thegenerating generates the running control information according to thethree-dimensional tilt after switching the autonomous driving to themanual driving.
 14. The method according to claim 11, wherein theswitching switches the autonomous driving to the manual driving when themyoelectric potential is higher than both of the reference myoelectricpotential and a myoelectric potential threshold; and the switchingswitches the autonomous driving to the manual driving after apredetermined time when the myoelectric potential is higher than thereference myoelectric potential and equal to or lower than themyoelectric potential threshold.
 15. The method according to claim 13,wherein the switching switches the autonomous driving to the manualdriving when one of the acceleration and the three-dimensional tiltbecomes greater than a first angle threshold after the myoelectricpotential rises above the reference myoelectric potential.
 16. Themethod according to claim 13, wherein after the myoelectric potentialrises above the reference myoelectric potential, the switching switchesthe autonomous driving to the manual driving when one of theacceleration and the three-dimensional tilt is greater than a secondangle threshold; and after the myoelectric potential rises above thereference myoelectric potential, the switching switches the autonomousdriving to the manual driving after a predetermined time when one of theacceleration and the three-dimensional tilt is equal to or less than thesecond angle threshold.
 17. The method according to claim 11, whereinthe switching switches the autonomous driving to the manual driving morequickly as the myoelectric potential rises above the referencemyoelectric potential at a higher rapidity of change.
 18. The methodaccording to claim 11, wherein the switching switches the autonomousdriving to the manual driving when a duration time over which themyoelectric potential remains above the reference myoelectric potentialis longer than a time threshold.
 19. The method according to claim 13,wherein the acquiring acquires the acceleration of both arms of theuser; and the switching switches the autonomous driving to the manualdriving when the myoelectric potential is higher than the referencemyoelectric potential and relevance of one of the acceleration andthree-dimensional tilts between the both arms is greater than a firstrelevance threshold.
 20. A non-transitory program stored in a computerreadable medium, the program being an information processing program ofa mobile object movable under autonomous driving and manual driving by auser and causing a computer to perform: an acquisition function ofacquiring myoelectric potential of at least one part of a body of theuser; a determination function of determining whether the myoelectricpotential is higher than reference myoelectric potential and switchingthe autonomous driving to the manual driving when the myoelectricpotential is higher than the reference myoelectric potential; and acontrol function of outputting running control information to the mobileobject after the autonomous driving is switched to the manual driving.